A route planning method, server, and vehicle

Abstract

This application provides a route planning method, server, and vehicle. The method includes: the server acquiring a first path, which is a path from the vehicle's current location to a task destination, the first path including one or more road segments; the server determining the planned travel time information for the vehicle on each of the one or more road segments, wherein the total number of vehicles on each road segment is less than or equal to the capacity of each road segment when the vehicle travels according to the planned travel time information; and the server sending route information to the vehicle, the route information including information on at least one of the one or more road segments and the planned travel time information for the vehicle on the at least one road segment. Embodiments of this application help avoid conflicts between vehicles, improve traffic efficiency between vehicles, and thus facilitate orderly operation or passage between vehicles.

Description

Technical Field

[0001] This application relates to the field of intelligent driving, and more specifically, to a path planning method, server, and vehicle. Background Technology

[0002] Path planning is a common requirement in production and daily life, which involves calculating an optimal path that meets the given starting point, destination, and planning requirements.

[0003] Existing path planning technologies fall into two categories. One type is similar to map-based methods that provide road-level path planning, serving manned vehicles. The driver has ultimate decision-making power; the map provides several optimal routes, which the driver ultimately chooses, or can choose a route entirely different from those provided by the map. The other type is path planning for autonomous vehicles, serving autonomous vehicles themselves. Autonomous vehicles possess high-definition maps and can search for optimal routes based on these maps. Autonomous driving is based on game theory principles.

[0004] Current path planning technologies primarily focus on the vehicles themselves and cannot prevent conflicts between vehicles. Therefore, how to achieve collaborative path planning among multiple vehicles is a problem that urgently needs to be solved. Summary of the Invention

[0005] This application provides a path planning method, server, and vehicle that helps avoid conflicts between vehicles, improves traffic efficiency between vehicles, and thus helps to achieve orderly operation or passage between vehicles.

[0006] A first aspect provides a path planning method, characterized by comprising: acquiring a first path, the first path being a path from the current location of a vehicle to a task destination, the first path including one or more road segments; determining the planned travel time information of the vehicle on each of the one or more road segments, such that the total number of vehicles on each road segment is less than or equal to the capacity of each road segment when the vehicle travels according to the planned travel time information on each road segment; and sending path information to the vehicle, the path information including information on at least one of the one or more road segments and the planned travel time information of the vehicle on the at least one road segment.

[0007] In this embodiment, the route information sent by the server to the vehicle may include information about one or more road segments and the planned travel time information for the vehicle on one or more road segments, thus controlling the vehicle's movement from both road and time dimensions. By sending the planned travel time information through the server, the total number of vehicles on each road segment can be less than or equal to the capacity of each road segment, avoiding road congestion caused by the total number of vehicles exceeding the road capacity. This helps to avoid conflicts between vehicles, improves traffic efficiency, and facilitates orderly operation or passage of vehicles.

[0008] In some possible implementations, the method includes: obtaining a first path, which is a path from the vehicle's current location to a mission destination, the first path including one or more road segments; determining the planned travel time information of the vehicle on each of the one or more road segments based on the capacity of each road segment; and sending path information to the vehicle, the path information including information on at least one of the one or more road segments and the planned travel time information of the vehicle on the at least one road segment.

[0009] In conjunction with the first aspect, in some implementations of the first aspect, prior to obtaining the first path, the method further includes: obtaining task information, which includes information indicating the destination of the task.

[0010] In some possible implementations, the method further includes: obtaining a second path associated with the first path based on the task destination.

[0011] In this embodiment of the application, the server can obtain the second path through the information in the task information that indicates the destination of the task, and then obtain the information of the first path through the second path.

[0012] In some possible implementations, the first path may be part of a second path. For example, the task destination indicated in the task information is a first location, and the server can obtain the second path based on this first location. If the server determines that the second path from the vehicle's starting position to the task destination includes a fault point (where passage is impossible), then the service can first send information about a third path to the vehicle. This third path can be a path from the vehicle's current position to the fault point. The second path can consist of the third path and the first path, where the first path can be the path from the fault point to the task destination.

[0013] After a period of time, if the server determines that the vehicle has reached the fault point and the fault point has been eliminated, the server can issue route information to the vehicle. The route information includes information on at least one segment of the first route and the planned travel time of the vehicle on at least one segment of the route.

[0014] In conjunction with the first aspect, in some implementations of the first aspect, the at least one road segment includes a first road, and the planned time information for the vehicle to travel on the first road includes information for indicating a first moment and information for indicating a second moment, the first moment being the moment the vehicle enters the first road and the second moment being the moment the vehicle leaves the first road. The method further includes: between the first moment and the second moment, if the total number of vehicles on the first road is greater than the capacity of the first road and the priority of the vehicle is higher than the priority of another vehicle, instructing the other vehicle to leave the first road before the first moment, or instructing the other vehicle to enter the first road after the second moment, the other vehicle being a vehicle planned to travel on the first road between the first moment and the second moment.

[0015] In this embodiment, when the server determines that the total number of vehicles on the first road at a certain moment exceeds the capacity of the first road, the server can send instruction information to vehicles with lower priority at that moment, thereby instructing the lower priority vehicles to leave the first road before that first moment, or instructing the lower priority vehicles to enter the first road after that second moment. This ensures that the total number of vehicles on the road at any given time is less than or equal to the road's capacity, avoiding conflicts between vehicles, improving traffic efficiency, and thus facilitating orderly operation or passage of vehicles.

[0016] In conjunction with the first aspect, in some implementations of the first aspect, the planned time information for the vehicle's travel on each road segment includes the time of entering each road segment and the time of leaving each road segment; or, the planned time information for the vehicle's travel on each road segment includes the time of entering each road segment and the vehicle's speed information on each road segment; or, the planned time information for the vehicle's travel on each road segment includes the time of leaving each road segment and the vehicle's speed information on each road segment.

[0017] In conjunction with the first aspect, in some implementations of the first aspect, the path information also includes information on the vehicle's driving mode on at least one section of road, the driving mode including at least one of straight driving, natural turning mode, or crab driving mode.

[0018] In this embodiment of the application, the server may also indicate to the vehicle information on the driving mode on at least one road segment, thereby enabling the vehicle to clearly understand the driving mode on each road segment within the at least one road segment.

[0019] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the first path includes: determining, based on the vehicle's traffic class and / or the vehicle's type, a road that allows the vehicle to travel, the road that allows the vehicle to travel includes one or more road segments; and obtaining the first path based on the road that allows the vehicle to travel.

[0020] In this embodiment of the application, the server can also determine the roads that vehicles are allowed to travel on based on the vehicle's access level and / or vehicle type. This can help the server better plan feasible routes for vehicles and avoid vehicles traveling on roads that do not meet the conditions.

[0021] In some possible implementations, the method further includes: determining the vehicle's class based on the vehicle's type; and determining the road on which the vehicle is permitted to travel based on the vehicle's class.

[0022] In some possible implementations, the road class of one or more road segments is less than or equal to the traffic class of the vehicle.

[0023] In some possible implementations, the road class of one or more road segments is less than or equal to the vehicle class.

[0024] In some possible implementations, the server can determine the road on which a vehicle is permitted to travel when it determines that the vehicle's access class matches the road class, and / or that the vehicle's type matches the road class.

[0025] In conjunction with the first aspect, in some implementations of the first aspect, obtaining the first path includes: sending information about the destination of the task to a map server; and obtaining information about the first path obtained by the map server based on the destination of the task.

[0026] In this embodiment, when the server obtains the vehicle's destination, it can send the destination to another server, enabling the other server to plan a first route. The other server can then send the first route information to the server, thus avoiding the need to store map information on the server and saving server storage costs.

[0027] In conjunction with the first aspect, in some implementations of the first aspect, the path information also includes information for instructing the vehicle to make a zigzag U-turn on a second road, wherein at least one section of the road includes the second road.

[0028] In this embodiment of the application, if the task information obtained by the server includes information indicating that the vehicle needs to make a zigzag U-turn, then the server can carry information in the path information sent to the vehicle indicating that the vehicle should make a zigzag U-turn on the second road, so that the vehicle clearly makes a zigzag U-turn on the second road.

[0029] Secondly, a path planning method is provided, comprising: a vehicle sending information about its current location to a server; the vehicle receiving path information sent by the server, the path information including information about at least one of one or more road segments and the planned travel time information of the vehicle on the at least one road segment, wherein the total number of vehicles on each road segment is less than or equal to the capacity of each road segment when the vehicle travels according to the planned travel time information on each road segment, and the first path composed of the one or more road segments is a path from the vehicle's current location to the task destination.

[0030] In conjunction with the second aspect, in some implementations of the second aspect, the at least one road segment includes a first road, and the planned time information for the vehicle to travel on the first road includes information for indicating a first moment and information for indicating a second moment, wherein the first moment is the moment the vehicle enters the first road, and the second moment is the moment the vehicle leaves the first road. The method further includes: the vehicle receiving indication information sent by a server, the indication information being used to indicate that the vehicle leaves the first road between a third moment; or, indicating that the vehicle enters the first road after a fourth moment; wherein another vehicle is a vehicle planned to travel on the first road between the third moment and the fourth moment, the priority of the other vehicle is greater than or equal to the priority of the vehicle, the third moment is the same as the first moment or the third moment is after the first moment, or the fourth moment is the same as the second moment or the fourth moment is before the second moment.

[0031] In some possible implementations, this instruction information can be carried in another path information.

[0032] For example, the server determines the planning time information for vehicle 1, instructing vehicle 1 to enter the first road at time t1 and leave the first road at time t2. Then, the server determines the planning time information for vehicle 2, instructing vehicle 2 to enter the first road at time t3 and leave the first road at time t4. If the server determines that the capacity of the first road is 1 and time t3 is after time t1 and before time t2, then the server can send instruction information to vehicle 1, instructing vehicle 1 to leave the first road before time t3; or, if the server determines that the capacity of the first road is 1 and time t4 is after time t1 and before time t2, then the server can send instruction information to vehicle 1, instructing vehicle 1 to enter the first road after time t4.

[0033] In conjunction with the second aspect, in some implementations of the second aspect, the planned time information for the vehicle's travel on each road segment includes the time of entering each road segment and the time of leaving each road segment; or, the planned time information for the vehicle's travel on each road segment includes the time of entering each road segment and the vehicle's speed information on each road segment; or, the planned time information for the vehicle's travel on each road segment includes the time of leaving each road segment and the vehicle's speed information on each road segment.

[0034] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: the vehicle prompting the user with the planned travel time information of the vehicle on at least one section of road.

[0035] In some possible implementations, the vehicle can prompt the user with the planned travel time information for at least one section of road via voice or a human-machine interface (HMI).

[0036] In conjunction with the second aspect, in some implementations of the second aspect, the path information also includes information on the vehicle's driving mode on at least one section of the road, the driving mode including at least one of straight driving, natural turning mode, or crab driving mode.

[0037] In conjunction with the second aspect, in some implementations of the second aspect, the path information includes information for instructing the vehicle to make a zigzag U-turn on a second road, wherein at least one section of the road includes the second road.

[0038] In conjunction with the second aspect, in some implementations of the second aspect, the path information includes first identification information. Before receiving the path information sent by the server, the method further includes: sending task information to the server, the task information including information for indicating the destination of the task; receiving second identification information sent by the server according to the task information; wherein the method includes: if the first identification information and the second identification information match, driving according to the path information.

[0039] In conjunction with the second aspect, in some implementations of the second aspect, the method further includes: if the information of the at least one road segment and / or the planned time information of the vehicle traveling on the at least one road segment is successfully verified, then the vehicle travels according to the route information.

[0040] Thirdly, an apparatus is provided, comprising: an acquisition unit for acquiring a first path, the first path being a path from a vehicle's current location to a mission destination, the first path including one or more road segments; a determination unit for determining planned travel time information for the vehicle on each of the one or more road segments, such that the total number of vehicles on each road segment is less than or equal to the capacity of each road segment when the vehicle travels according to the planned travel time information on each road segment; and a transmission unit for transmitting path information to the vehicle, the path information including information on at least one of the one or more road segments and planned travel time information for the vehicle on the at least one road segment.

[0041] In conjunction with the third aspect, in some implementations of the third aspect, the acquisition unit is further configured to acquire task information before acquiring the first path, the task information including information indicating the destination of the task.

[0042] In conjunction with the third aspect, in some implementations of the third aspect, the at least one road segment includes a first road, and the planned time information for the vehicle to travel on the first road includes information for indicating a first moment and information for indicating a second moment, wherein the first moment is the moment when the vehicle enters the first road and the second moment is the moment when the vehicle leaves the first road. The transmitting unit is further configured to: between the first moment and the second moment, if the total number of vehicles on the first road is greater than the capacity of the first road and the priority of the vehicle is higher than the priority of another vehicle, send indication information to the other vehicle, wherein the indication information is used to instruct the other vehicle to leave the first road before the first moment, or to instruct the other vehicle to enter the first road after the second moment, wherein the other vehicle is a vehicle that is scheduled to travel on the first road between the first moment and the second moment.

[0043] In conjunction with the third aspect, in some implementations of the third aspect, the planned time information for the vehicle's travel on each road segment includes the time of entering each road segment and the time of leaving each road segment; or, the planned time information for the vehicle's travel on each road segment includes the time of entering each road segment and the vehicle's speed information on each road segment; or, the planned time information for the vehicle's travel on each road segment includes the time of leaving each road segment and the vehicle's speed information on each road segment.

[0044] In conjunction with the third aspect, in some implementations of the third aspect, the path information also includes information on the vehicle's driving mode on at least one section of the road, the driving mode including at least one of straight driving, natural turning mode, or crab driving mode.

[0045] In conjunction with the third aspect, in some implementations of the third aspect, the acquisition unit is specifically used to: determine, based on the vehicle's traffic class and / or the vehicle's type, a road that allows the vehicle to travel, the road that allows the vehicle to travel includes one or more road segments; and obtain the first path based on the road that allows the vehicle to travel.

[0046] In conjunction with the third aspect, in some implementations of the third aspect, the acquisition unit is specifically used to: send information about the destination of the task to the map server; and acquire information about the first path obtained by the map server based on the destination of the task.

[0047] In conjunction with the third aspect, in some implementations of the third aspect, the path information also includes information for instructing the vehicle to make a zigzag U-turn on the second road, wherein at least one section of the road includes the second road.

[0048] Fourthly, an apparatus is provided, comprising: a sending unit for sending information about the current location of the apparatus to a server; and a receiving unit for receiving path information sent by the server, the path information including information about at least one of one or more road segments and planned travel time information of the apparatus on the at least one road segment, wherein the total number of vehicles on each road segment is less than or equal to the capacity of each road segment when the apparatus travels according to the planned travel time information on each of the at least one road segment, and a first path composed of the one or more road segments is a path from the current location of the apparatus to the mission destination.

[0049] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the at least one road segment includes a first road, and the planned time information for the device to travel on the first road includes information for indicating a first moment and information for indicating a second moment. The first moment is the moment when the device enters the first road, and the second moment is the moment when the device leaves the first road. The receiving unit is further configured to: receive indication information sent by the server, the indication information being used to indicate that the device leaves the first road between a third moment; or, to indicate that the device enters the first road after a fourth moment; wherein, the other vehicle is a vehicle planned to travel on the first road between the third moment and the fourth moment, the priority of the other vehicle is greater than or equal to the priority of the device, the third moment is the same as the first moment or the third moment is after the first moment, or the fourth moment is the same as the second moment or the fourth moment is before the second moment.

[0050] In some possible implementations, this instruction information can be carried in another path information.

[0051] In conjunction with the second aspect, in some implementations of the second aspect, the planned time information for the device to travel on each road segment includes the time of entering each road segment and the time of leaving each road segment; or, the planned time information for the device to travel on each road segment includes the time of entering each road segment and the speed information of the vehicle on each road segment; or, the planned time information for the device to travel on each road segment includes the time of leaving each road segment and the speed information of the vehicle on each road segment.

[0052] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the device further includes: a prompting unit for prompting the user with the planned travel time information of the device on at least one section of road.

[0053] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the path information also includes information on the device's driving mode on the at least one section of road, the driving mode including at least one of straight driving, natural turning mode, or crab driving mode.

[0054] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the path information includes information for instructing the device to make a zigzag turn on the second road, the at least one section of which includes the second road.

[0055] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the path information includes first identification information; the sending unit is further configured to send task information to the server before receiving the path information sent by the server, the task information including information indicating the destination of the task; the receiving unit is further configured to receive second identification information sent by the server according to the task information; the device further includes: a verification unit configured to determine that the first identification information and the second identification information match before the device travels according to the path information.

[0056] In conjunction with the fourth aspect, in some implementations of the fourth aspect, the device further includes: a verification unit, configured to determine, before the device travels according to the path information, that the verification of the information on the at least one road segment and / or the planned time information for the device to travel on the at least one road segment is successful.

[0057] Fifthly, an apparatus is provided, comprising a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the apparatus to perform any of the possible methods in the first aspect.

[0058] In a sixth aspect, an apparatus is provided, comprising a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the apparatus to perform any of the possible methods in the second aspect.

[0059] In a seventh aspect, a server is provided that includes the apparatus described in the third or fifth aspect.

[0060] Eighthly, a vehicle is provided that includes the device described in the fourth or sixth aspect.

[0061] Ninthly, a computer program product is provided, the computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform the method of the first aspect described above; or, when run on a computer, causes the computer to perform the method of the second aspect described above.

[0062] It should be noted that the above-mentioned computer program code can be stored in whole or in part on the first storage medium, wherein the first storage medium can be packaged together with the processor or packaged separately from the processor. This application embodiment does not specifically limit this.

[0063] In a tenth aspect, a computer-readable medium is provided, the computer-readable medium storing program code that, when run on a computer, causes the computer to perform the methods described in the first or second aspect above.

[0064] Eleventhly, embodiments of this application provide a chip system including a processor for calling a computer program or computer instructions stored in a memory, such that the processor executes the method described in any one of the above aspects and any possible design of the above aspects, or executes the method described in any two of the above aspects and any possible design of the above aspects.

[0065] In conjunction with the eleventh aspect, in one possible implementation, the processor is coupled to the memory via an interface.

[0066] In conjunction with the eleventh aspect, in one possible implementation, the chip system further includes a memory in which computer programs or computer instructions are stored.

[0067] In a twelfth aspect, embodiments of this application provide a processor for invoking a computer program or computer instructions stored in a memory to cause the processor to perform any one aspect of the method and any possible design of the aforementioned aspects, or to cause the processor to perform any two aspects of the method and any possible design of the aforementioned aspects.

[0068] In a thirteenth aspect, embodiments of this application provide a vehicle control system that includes the apparatus described in the third aspect above. Attached Figure Description

[0069] Figure 1 This is an application scenario of the path planning method in the embodiments of this application.

[0070] Figure 2 This is a schematic block diagram of the system provided in the embodiments of this application.

[0071] Figure 3 This is a schematic flowchart of the path planning method provided in the embodiments of this application.

[0072] Figure 4 This is a schematic diagram of road segments and key nodes provided in the embodiments of this application.

[0073] Figure 5 This is a schematic diagram of allocating time resources to a road or a section of road, provided in an embodiment of this application.

[0074] Figure 6 This is a diagram illustrating the natural turning pattern.

[0075] Figure 7 This is a diagram illustrating the crab-like movement pattern.

[0076] Figure 8 This is a schematic diagram of the route planning module sending route information to the vehicle according to an embodiment of this application.

[0077] Figure 9 This is a schematic flowchart of the path planning method provided in the embodiments of this application.

[0078] Figure 10 This is another illustrative flowchart of the path planning method provided in the embodiments of this application.

[0079] Figure 11 This is a diagram illustrating a V-shaped U-turn.

[0080] Figure 12 This is a schematic diagram of the route planning module sending route information to the vehicle according to an embodiment of this application.

[0081] Figure 13 This is another schematic flowchart of a path planning method provided in an embodiment of this application.

[0082] Figure 14 This is a schematic block diagram of the device provided in the embodiments of this application.

[0083] Figure 15 This is another schematic block diagram of the device provided in the embodiments of this application.

[0084] Figure 16 This is a schematic block diagram of the system provided in the embodiments of this application. Detailed Implementation

[0085] The technical solutions in this application will now be described with reference to the accompanying drawings.

[0086] Figure 1 This is an application scenario for the path planning method provided in the embodiments of this application. In this application scenario, a vehicle 100 and a cloud service system 200 may be included, and the vehicle 100 and the cloud service system 200 may communicate via a network.

[0087] Some or all of the functions of vehicle 100 are controlled by computing platform 150. Computing platform 150 may include at least one processor 151, which can execute instructions 153 stored in a non-transitory computer-readable medium such as memory 152. In some embodiments, computing platform 150 may also be multiple computing devices that control individual components or subsystems of vehicle 100 in a distributed manner. Processor 151 may be any conventional processor, such as a central processing unit (CPU). Alternatively, processor 151 may also include graphics processing unit (GPU), field programmable gate array (FPGA), system on chip (SOC), application-specific integrated circuit (ASIC), or combinations thereof.

[0088] In addition to instruction 153, memory 152 may also store data such as road maps, route information, vehicle position, direction, speed, and other such vehicle data, as well as other information. This information can be used by vehicle 100 and computing platform 150 during operation of vehicle 100 in autonomous, semi-autonomous, and / or manual modes.

[0089] It should be understood that Figure 1 The structure of the vehicle should not be construed as a limitation on the embodiments of this application.

[0090] Optionally, the vehicle 100 mentioned above can be a car, truck, motorcycle, bus, ship, airplane, helicopter, lawnmower, recreational vehicle, amusement park vehicle, construction equipment, tram, golf cart, train, etc., and this application embodiment does not impose any special limitations.

[0091] In addition, such as Figure 1 The application scenarios shown may also include cloud servers. In this embodiment, the cloud server can carry road information and the planned travel time information of the vehicle on the road in the route information it sends to the vehicle. By sending the planned travel time information through the server, the total number of vehicles on each road segment can be less than or equal to the capacity of each road segment, avoiding road congestion caused by the total number of vehicles exceeding the road capacity, thereby helping to avoid conflicts between vehicles.

[0092] In one embodiment, the cloud server can also be implemented using a virtual machine.

[0093] As mentioned earlier, existing path planning technologies for vehicles fall into two categories. One category is similar to map-based methods that provide road-level path planning, serving manned vehicles. The driver has ultimate decision-making power; the map provides several optimal paths, which the driver ultimately chooses, or can choose a path entirely different from those provided by the map. The other category is path planning for autonomous vehicles, serving autonomous vehicles themselves. Autonomous vehicles possess high-definition maps and can search for optimal paths based on these maps. Autonomous driving is based on game theory. Current path planning technologies primarily target the vehicle itself and cannot avoid conflicts between vehicles.

[0094] In view of this, embodiments of this application provide a path planning method and server, which can allocate road and time resources for multi-vehicle collaboration and carry location, time, and other information in the path information sent to vehicles, thereby achieving strong control over vehicles. By sending planning time information through the server, the total number of vehicles on each road segment can be less than or equal to the capacity of that road segment, avoiding road congestion caused by the total number of vehicles exceeding the road capacity. This helps avoid conflicts between vehicles, ultimately achieving orderly passage or operation between vehicles, improving vehicle passage or operation efficiency, and reducing manual operation costs. The technical solution of this application embodiment can be applied to automated driving scenarios such as ports, mines, or closed parks, as well as urban road traffic scenarios. This application embodiment does not limit the specific applicable scenarios.

[0095] Figure 2 A schematic block diagram of a system provided in an embodiment of this application is shown. The system includes an upper-layer application (or platform), a cooperative driving map module, a road-level cooperative path planning module, a lane-level fine-grained guidance module, and a vehicle. The upper-layer application can be deployed on a server or on the vehicle, and can receive user input through a user interface (UI), such as settings for task information, road information, and lane information. The cooperative driving map module, road-level cooperative path planning module, and lane-level fine-grained guidance module can belong to a cooperative driving system, which interfaces with the server at the upper level and with the vehicle at the lower level.

[0096] Roads typically include one or more lanes. Road-level paths instruct vehicles to travel on corresponding roads, primarily indicating the direction of travel at intersections, and generally do not restrict the specific behavior of vehicles within the road. Lane-level paths require vehicles to travel in specific lanes within the road, prohibiting vehicles from overtaking, changing lanes, or crossing lanes at will.

[0097] It should be understood that the collaborative driving map module, road-level collaborative path planning module, and lane-level fine-grained guidance module can belong to the same server (e.g., the collaborative driving system); or, the collaborative driving map module can belong to one server, while the road-level collaborative path planning module and lane-level fine-grained guidance module can belong to another server. Alternatively, the collaborative driving map module, road-level collaborative path planning module, and lane-level fine-grained guidance module can be different modules, two modules, or one module, or some module functions can be deployed on other servers or other systems. This application embodiment does not limit this. It is understood that when the upper-layer application is deployed on a server, it can be deployed on the same server as one or more of the collaborative driving map module, road-level collaborative path planning module, and lane-level fine-grained guidance module, or it can be deployed on different servers.

[0098] Upper-layer applications (or platforms) can provide road and lane attributes to the cooperative driving map module, including but not limited to:

[0099] (1) Road passability

[0100] The passability attribute of a road can be understood as whether the road is passable, or the conditions that must be met for it to be passable. These passability conditions can be determined based on one or more of the following: the vehicle's destination, the vehicle's task type, and the vehicle's type. For example, a road may be passable under all circumstances. Another example is that only vehicles destined for that road can pass, a situation common in production environments. If there is production equipment on a road, only vehicles needing to work on that road can enter; in other words, the vehicle's task type matches the type of work on the road, and other vehicles must detour. Yet another example is that a road may only allow specific types of vehicles, such as special vehicles, fire trucks, and ambulances, to pass.

[0101] Road passability attributes can also include road class. In one possible implementation, vehicle types also correspond to specific vehicle classes. Vehicles can travel on roads when their class is higher than or equal to their road class. For example, road classes range from 0 to 3. Class 0 has no restrictions on vehicle type, meaning all vehicles can travel on it. Different vehicle types correspond to different classes. Ordinary vehicles are classified as class 1, allowing them to travel on roads of class 0 or 1, but not on roads of class 2 or 3. Special vehicles, such as fire trucks and ambulances, are classified as class 3 and can travel on all roads. For another example, a vehicle of a certain type might be classified as class 2. This type of vehicle can travel on roads of class 0-2, but not on roads of class 3 or higher.

[0102] In another possible implementation, when the upper-layer application (or platform) sends out vehicle task information or the vehicle uploads task information, it can include the vehicle's access level in the task information. When the vehicle's access level is higher than or equal to the road level, the vehicle can travel on that road. For example, if the vehicle's access level is 2, then the vehicle can travel on roads with road levels 0-2, but not on roads with road levels 3 or higher. As another example, if the vehicle's access level is 5 and the highest road level is also 5, then the server can select a path from the vehicle's current location to the task destination from all available roads.

[0103] The passability of a road can be determined based on one or more of the following: vehicle passability level, vehicle type, vehicle task type, and vehicle task destination. This allows for the determination of roads that vehicles are permitted to travel on when planning routes.

[0104] (2) Availability status of roads and lanes

[0105] The availability status of roads and lanes can be understood as whether roads and lanes are passable. This is unrelated to vehicles or tasks and is usually due to road or lane closures caused by safety issues. Once the safety issue is resolved, the relevant roads and lanes can be reopened.

[0106] (3) Road capacity

[0107] Road capacity can serve as a reference for determining the allocation of time resources in multi-vehicle system path planning.

[0108] Road capacity refers to the maximum number of vehicles that can be on a road or road segment at any given time. Allocating time resources based on road capacity can prevent vehicle congestion and subsequent lockouts or efficiency reductions. Road capacity can be related to the road's length, width, number of lanes, etc. For example, the more lanes a road has, the greater its capacity can be. Alternatively, road capacity can be related to the road's business attributes; or it can be related to the guidance capabilities of upper-layer applications. For instance, the stronger the upper-layer application's capabilities, the more densely vehicles can be on the road without causing lockouts.

[0109] (4) Types of lanes

[0110] The type of lane can be related to business needs, and is generally divided into working lanes and overtaking lanes. Vehicles that need to work in a certain working lane can travel in that working lane; while vehicles that are just passing through the road can travel in the overtaking lane under that road.

[0111] In addition, settings can be configured for specific needs or scenarios. For example, in a port scenario, vehicles may have the ability to make a U-turn. For certain special tasks, vehicles may need to make a U-turn at a suitable location, so when allocating road resources to the vehicle, it is necessary to consider whether the road supports U-turns.

[0112] Figure 3 A schematic flowchart of a path planning method 300 provided in an embodiment of this application is shown. This method can be executed by a vehicle, a cloud server, and an upper-layer application (or platform), wherein the cloud server includes a path planning module and a cooperative driving map module. The method 300 includes:

[0113] S301, the route planning module obtains map information sent by the cooperative driving map module, which may include the topological relationship of roads.

[0114] It should be understood that the path planning module may include Figure 2 The road-level collaborative path planning module and lane-level refined guidance module shown, along with the collaborative driving map module, can be used for the above purposes. Figure 2 The cooperative driving map module shown.

[0115] It should also be understood that the map information obtained by the route planning module from the collaborative driving map module can be obtained by the route planning module in cloud server a from the collaborative driving map module in cloud server b; or it can be obtained by the route planning module in cloud server a from the collaborative driving map module in cloud server a. Figure 3 This example illustrates the concept by using the path planning module and the collaborative driving map module as being located on the same cloud server.

[0116] Map information includes the topological relationships of the road network, that is, the upstream and downstream relationships of roads. Based on the road topology, a feasible path from the starting point to the destination can be planned.

[0117] In one embodiment, after obtaining map information from the collaborative driving map module, the route planning module can save the map information in its own memory. Then, the next time the route planning module receives task information, it will not need to retrieve the map information from the collaborative map module again.

[0118] S302, the path planning module obtains task information.

[0119] In one embodiment, the route planning module can obtain task information from an upper-layer application (or platform). For example, in scenarios such as ports, mines, or closed parks, the task information of vehicles can be sent to the cloud server through the dispatch center in the region, requesting the cloud server to perform route planning for the vehicles.

[0120] In one embodiment, the route planning module can also obtain task information from the vehicle. For example, in an urban traffic scenario, the vehicle can be triggered by the driver's operation to upload task information to the cloud server and request route planning.

[0121] In one embodiment, the task information may include static and dynamic information. Static information includes, but is not limited to, the task destination, traffic level, and inherent vehicle attributes. The task destination, traffic level, and inherent vehicle attributes can all be used in conjunction with road trafficability attributes to determine whether vehicle passage is permitted based on road traffic rules. For example, if the traffic level is higher than the road level of a certain road or road segment, the vehicle can travel on that road or road segment. Inherent vehicle attributes may include one or more of the following: vehicle type, vehicle height, width, and other dimensional information; maneuverability information such as minimum turning radius and maximum gradient; and license plate information (in some scenarios where traffic is restricted based on license plates, such as the last digit of the license plate or the region or province to which the vehicle belongs). Based on this information, it can be determined from the vehicle's perspective whether the road conditions meet the vehicle's driving requirements, such as prohibiting large vehicles, height restrictions, width restrictions, sharp turns, or steep slopes. Static information is mainly used to allocate space resources (road resources) to vehicles.

[0122] In one embodiment, the task information sent by the vehicle to the server while driving in an urban scene may include the task destination and the vehicle's inherent attributes.

[0123] In one embodiment, the task information may include the task purpose instead of the task destination. For example, if the task purpose is charging and the location of the charging station is not specified in the task information, the cloud server can select an available charging station for the vehicle. The cloud server can send navigation information to the vehicle, which may include a task ID and a task destination. The task ID is used by the vehicle to verify whether there are any problems with the route information.

[0124] Dynamic information can include vehicle task priorities, primarily used to allocate time resources to vehicles. Unlike static information, dynamic information affects not only the vehicle it belongs to but also other related vehicles. For example, when two or more vehicles are traveling on a road simultaneously, each vehicle is allocated a time window on each road segment based on its task priority. The higher the priority, the higher the weight that vehicle has when allocating time resources, meaning that the task needs of high-priority vehicles are met first. When there is a conflict in the allocation of time resources between two vehicles, the time of the lower-priority vehicle is usually adjusted.

[0125] For example, if a road has a capacity of 1, and a vehicle with a high task priority needs to enter the road at time T1 and leave at time T2, and another vehicle with a lower task priority is preparing to enter the road at time T3 (T3 can be a time between T1 and T2), then the cloud can instruct it to reduce its speed to ensure that it enters the road after time T2.

[0126] In one embodiment, the vehicle's task priority can be obtained from dynamic information or from static information. For example, the inherent attributes of the vehicle in the static information may include the vehicle type. For instance, a cloud server can store the correspondence between vehicle types and vehicle task priorities, such as ambulances, fire trucks, and other special vehicles corresponding to the highest task priority.

[0127] S303, the route planning module determines a feasible path based on the task information, which includes one or more road segments.

[0128] In one embodiment, the path planning module can determine a feasible path based on static information in the task information and the inherent attributes of roads and lanes.

[0129] For example, road and lane types can include inherent attributes such as width, slope, and curvature. These attributes can be obtained during high-precision map acquisition and updated during road repairs. The route planning module can combine the inherent attributes of the vehicle with those of the road and lanes to determine feasible routes. For instance, the slope of each road segment or multiple road segments must be less than or equal to the vehicle's maximum gradient; similarly, the width of each lane in each road segment or multiple road segments must be greater than or equal to the width of the vehicle.

[0130] In one embodiment, the path planning module can determine a feasible path based on static information in the task information and the business attributes of roads and lanes.

[0131] For example, the business attributes of roads and lanes may include road accessibility attributes, directional attributes, and dedicated road lane attributes (e.g., dedicated bus lanes). The route planning module can determine feasible routes based on the traffic level in static information and the road level in the road accessibility attributes. The road level of each road segment in the one or more road segments is less than or equal to the traffic level.

[0132] In one embodiment, the path planning module can determine a feasible path based on static information in the task information and the availability status of roads and lanes.

[0133] For example, the availability status of roads and lanes can be described using "OPEN" and "CLOSE". For instance, in a production operation scenario, if a vehicle breaks down or an item falls, to ensure vehicle safety, the relevant area is usually closed off, thus setting the availability status of the corresponding road or lane to CLOSE. In an urban environment, roads and lanes are typically fenced off due to road construction, thus setting their availability status to CLOSE. The route planning module can determine that the availability status of each segment of one or more road segments can be OPEN.

[0134] It should be understood that the business attributes of roads and lanes can be configured by calling the map interface according to business needs.

[0135] It should also be understood that the route planning module can determine a feasible path by combining task information and multiple parameters. These multiple parameters may include at least two of the following: the inherent attributes of the road and lane, the business attributes of the road and lane, and the availability status of the road and lane.

[0136] In one embodiment, the route planning module may not obtain map information from the cooperative driving map module. Instead, after obtaining the task information, it sends the task destination from the task information, or a planned destination based on the task destination, to the cooperative driving map module. The cooperative driving map module can plan a feasible route for the vehicle based on its current location and the task destination, and then send the information of this feasible route to the route planning module. This eliminates the need to store map information in the route planning module, helping to reduce its storage overhead.

[0137] S304, the route planning module obtains the capacity information of each road segment in the one or more road segments from the cooperative driving map module.

[0138] S305 determines the planned travel time for vehicles on each road segment based on the capacity information of that segment.

[0139] To achieve collaborative path planning among multiple vehicles, time resources can be allocated to each vehicle. The allocation of time resources must meet capacity constraints. Figure 4 A schematic diagram of road segments and key nodes is shown.

[0140] The capacity describes an object that is a road or a section of road. For example... Figure 3 As shown, the black dots represent critical nodes. A road or road segment connects two critical nodes, and the capacity of this road or road segment can be described by the same parameter. For example, the start and end points of a road can be critical nodes. For shorter roads, the total road capacity can be described by a single road capacity parameter; for longer roads, to improve management efficiency, critical nodes need to be added at appropriate locations. For example, Figure 3 The third road shown is quite long, so key nodes are set at appropriate locations to divide it into multiple segments, each with a capacity.

[0141] When allocating time resources to vehicles, the route planning module can plan the arrival time for each key node based on all roads the vehicle will travel through and the road capacity of each road segment. Figure 5 This diagram illustrates the allocation of time resources to a road or a section of road. For example... Figure 5 As shown, the horizontal axis represents time, and each rectangle represents a time window in which a vehicle passes through that road or road segment. The time corresponding to the left side of the rectangle is the time when the vehicle arrives at the starting point of the road, and the time corresponding to the right side of the rectangle is the time when the vehicle arrives at the ending point of the road. Looking at the time axis, at any given moment, there are no more than three corresponding rectangles, meaning that at any given moment, the number of vehicles on that road does not exceed three. If the road's capacity is three or greater, then the time resource allocation result meets the capacity requirement.

[0142] If capacity requirements are not met (e.g., the number of vehicles on the road exceeds its capacity at a certain moment), the route planning module can prioritize vehicles based on their task priorities. The time windows for lower-priority vehicles are adjusted, for example, by delaying their entry into the road or advancing their exit.

[0143] After allocating spatial and temporal resources to the vehicle, detailed route information can be planned for it. For example, the route planning module can send route information to the vehicle through a set of points, which may include, but are not limited to, the following types of information:

[0144] (1) Location information

[0145] Location information is standard information. Location information can be described by point coordinates, or by road and lane IDs.

[0146] The coordinates of a point can be described using longitude and latitude; alternatively, they can be described using coordinates within a local coordinate system. For example, in a port scenario, a coordinate system can be established for the port. This coordinate system can be stored on a cloud server and in vehicles. When a vehicle receives the coordinates of a point in this coordinate system, it can determine the location information of that point.

[0147] (2) Speed ​​and time information

[0148] Speed ​​and time information ensures that the vehicle arrives at the corresponding waypoint within the planned timeframe during its journey. This information guarantees consistency in both space and time, ensuring that the vehicle effectively follows the waypoints provided by the cloud server, thus ensuring the effectiveness of the cloud server's planning.

[0149] (3) Vehicle driving mode

[0150] To adapt to different operating environments, commercial vehicles can have more driving modes (or control modes) compared to passenger cars. The two most common driving modes are natural turning mode and crab driving mode.

[0151] Figure 6 A schematic diagram of the natural cornering pattern is shown. The natural cornering pattern is the common cornering pattern, which is used by the vast majority of passenger vehicles.

[0152] In one embodiment, the natural turning mode may further include three sub-modes: the first sub-mode may be that the front and rear wheels rotate together in different directions; the second sub-mode may be that the front wheels rotate while the rear wheels do not rotate; and the third sub-mode may be that the rear wheels do not rotate while the front wheels rotate.

[0153] Figure 7A schematic diagram of the crab-like turning mode is shown. Crab-like turning mode is a unique mode for commercial vehicles. In crab-like turning mode, the front and rear wheels of the vehicle turn in the same direction simultaneously. When changing lanes, the vehicle's heading angle remains unchanged, and the area swept by the vehicle body is relatively smaller. However, this mode requires the heading angles of the front and rear lanes to be consistent, making it less flexible than the natural turning mode. It is often used in lane-changing scenarios.

[0154] Because cloud servers possess more comprehensive information than vehicles, configuring driving modes for vehicles via cloud servers can help them track paths more effectively. Factors considered in determining driving modes include whether the heading angles before and after a lane change are consistent, the length of the lane change, and obstacle information. For example, if consistent lane heading angles are required before and after a lane change, a crab mode can be used. For example, when a vehicle needs to change lanes across multiple lanes, a natural turning mode can be used.

[0155] S306, the route planning module sends route information to the vehicle, which includes information about one or more road segments and the planned travel time of the vehicle on the one or more road segments.

[0156] For example, Figure 8 This illustration shows a schematic diagram of the route planning module sending route information to the vehicle in an embodiment of this application. Figure 8 The path information shown includes critical path points 1-9. Each critical path point typically corresponds to a change in speed or driving mode. Figure 8 Taking the critical path points 1-5 shown as an example, the information of these 5 critical path points can be seen in Table 1.

[0157] Table 1 Information on critical path points

[0158]

[0159] Among them, STRAIGHT represents straight-ahead mode, LANCECHANG represents crab-like mode, and TURN represents natural turning mode.

[0160] Critical path point 1 is the starting point of the entire path, so its speed is 0. The path from critical path point 1 to critical path point 2 is an acceleration path, while the path from critical path point 2 to critical path point 3 is a constant speed path. Therefore, with critical path point 2 as the boundary, the speed patterns on both sides are different, making critical path point 2 a critical node. Since the path from critical path point 2 to critical path point 3 is a constant speed path, the speed of critical path point 3 is the same as that of critical path point 2. Therefore, the speed information for critical path point 3 does not need to be provided; it can directly inherit the speed information from critical path point 2. With critical path point 3 as the boundary, the path before is straight-line travel, and the path after is a crab-like lane change; therefore, critical path point 3 is also a critical node. Similarly, the driving pattern also has the characteristic of inheritance.

[0161] In one embodiment, the path information also includes a task ID. The vehicle can match the task ID in the path information with the task ID in the navigation information. If the match is successful, the vehicle can determine that the path information is task information for the vehicle.

[0162] In this embodiment, the cloud server sends both location and time information to the vehicle, controlling the vehicle's movement from both spatial and temporal dimensions. This ensures the effectiveness of the cloud server's multi-vehicle collaborative path planning, avoids conflicts between vehicles, and effectively improves the efficiency of vehicle operation or passage.

[0163] Figure 9 A schematic flowchart of a path planning method 900 provided in an embodiment of this application is shown. This method can be executed by a vehicle and a cloud server, wherein the cloud server includes a path planning module and a cooperative driving map module. The method 900 includes:

[0164] S901, the vehicle sends task information to the cloud server.

[0165] It should be understood that the description of this task information can be referred to the description in the above embodiments, and will not be repeated here.

[0166] In the S902, the cloud server sends navigation information to the vehicle based on the task information.

[0167] After receiving the task information, the cloud server first determines its validity. If valid, it generates a task ID to distinguish tasks from other vehicles and for matching when issuing routes; otherwise, it rejects the route planning request. If the task does not specify a destination, it selects one based on the task's purpose. For example, if the task's purpose is charging and no charging station is specified, the cloud can select an available charging station. Finally, the cloud sends the navigation information to the vehicle.

[0168] In this embodiment of the application, considering that the final destination in the path information sent by the cloud server may be inconsistent with the task destination in the task information (for example, the task destination carried in the task information is location a, but the cloud server determines that there are obstacles on the feasible path from the vehicle's current location to location a, then the cloud server may carry information that the final destination is temporary parking location b in the path information sent to the vehicle), the vehicle needs to use the task ID in the navigation information and the task ID in the path information to determine that the path information is actually the path information for the vehicle, so that the vehicle can perform operations or driving tasks according to the path information sent by the vehicle.

[0169] S903, the cloud server sends route information to the vehicle.

[0170] It should be understood that the process by which the cloud server determines the path information based on the task information can be referred to the description in the above embodiments, and will not be repeated here.

[0171] S904, the vehicle verifies the route information.

[0172] When a vehicle receives route information, it can verify whether there are any problems. If there are problems, it needs to report to the cloud and request a route replanning. The verification content includes, but is not limited to, the following:

[0173] (1) Whether the task ID in the navigation information is consistent with the task ID in the path information.

[0174] (2) Whether the task destination in the navigation information matches the endpoint in the path information. This is optional because in some scenarios, the platform may issue a shorter navigation path to the vehicle. For example, if the vehicle needs to stop temporarily due to an obstacle ahead, the path from the current location to the temporary stopping point will be issued first. After the obstacle vehicle leaves, the path information from the temporary stopping lane to the target endpoint can be issued. In this scenario, the task destination in the navigation information and the endpoint in the path information may not necessarily match.

[0175] (3) Are there any errors in the location information of the planned path points? For example, there are turning points in the path, or points with sudden changes in location in the path.

[0176] It should be understood that the path information indicates that vehicles travel in straight lines between associated path point 1 and critical path point 2, and between associated path point 2 and critical path point 3. If a vehicle determines that the coordinates of critical path point 2 in the path information are not on the line connecting critical path point 1 and associated path point 3, then the vehicle can determine that critical path point 2 is a point of abrupt change in position.

[0177] (4) Are there any errors in the time information in the route information? For example, if the required arrival time of a downstream route point is earlier than that of an upstream route point, or if the required arrival time of a certain route point is earlier than the current time, then the vehicle can determine that there is a problem with the route information.

[0178] (5) Are there any errors in the driving mode in the route information?

[0179] For example, if the driving mode indicated by a lane change in the route information is crab mode, but the heading angles of the lanes before and after the lane change are inconsistent, or the vehicle cannot switch to this driving mode due to maneuverability constraints, then the vehicle can determine that there is a problem with the route information.

[0180] In one embodiment, if the vehicle determines through verification that there is a problem with the route information, the vehicle can stop and send the verification result to the cloud server.

[0181] Figure 10 A schematic flowchart of a path planning method 1000 provided in an embodiment of this application is shown. This method can be executed by a vehicle, a cloud server, and an upper-layer application (or platform). The method 1000 includes:

[0182] S1001, the upper-layer application (or platform) sends task information to the cloud server, which instructs the vehicle to make a V-shaped U-turn.

[0183] Figure 11 The diagram illustrates a zigzag U-turn, where some connecting roads simultaneously offer both natural turns and zigzag U-turn capabilities. Unlike passenger vehicles, some commercial vehicles in production environments have bidirectional driving capabilities (e.g., automated guided vehicles (AGVs)). To accomplish specific tasks, vehicles need to make U-turns along the entire path. During path planning, a cloud server can select suitable locations for the vehicles to perform zigzag U-turns.

[0184] In one embodiment, the mission objective in the mission information may include information indicating that the vehicle needs to make a V-shaped U-turn.

[0185] S1002, the cloud server determines a feasible path based on the task information, and one or more sections of the feasible path can be used for a zigzag U-turn.

[0186] In one embodiment, the cloud server can plan a feasible path for the vehicle based on task information and the inherent properties of the road. The feasible path may include one or more road segments, which can be used for a U-turn.

[0187] S1003, the cloud server sends the feasible path and information about one or more road segments in the feasible path to the upper layer application.

[0188] Once the upper-layer application receives information about the feasible route and one or more road segments within that route, it can display this information to the user via the UI. The user can then select a specific road segment from this list, which can be used for a U-turn.

[0189] S1004, the upper-layer application sends information about the first road to the cloud server. This first road is the road where vehicles make a U-turn.

[0190] In one embodiment, if the cloud server determines in S1002 that there is only one road segment in the feasible path that can be used for a zigzag U-turn, then the cloud server can also directly execute S1005.

[0191] S1005, the cloud server determines the path information based on the feasible path and the information of the first road.

[0192] For example, Figure 12 This illustration shows a schematic diagram of the route planning module sending route information to the vehicle in an embodiment of this application. Figure 12 The path information shown includes critical path points 1-10. Each critical path point typically corresponds to a change in speed or driving mode. Figure 12 Taking the critical path points 1-6 shown as an example, the information of these 6 critical path points can be seen in Table 2.

[0193] Table 2 Information on critical path points

[0194]

[0195] At critical path point 6, the cloud server instructs the vehicle to perform a zigzag U-turn. When the vehicle reaches critical path point 6, it can verify the path heading angle at critical path point 6 on the road segment from critical path point 5 to critical path point 6, and the path heading angle at critical path point 6 on the road segment from critical path point 6 to critical path point 7. If the path heading angles differ from the preset angle (e.g., 180°), the vehicle can confirm that a zigzag U-turn was successfully performed at critical path point 6. Otherwise, the vehicle considers the path information verification problematic and can report the verification result to the cloud server.

[0196] It should be understood that the description of critical path points 1-5 can be referred to the above description of critical path points 1-5 in Table 1, and will not be repeated here.

[0197] S1006, the cloud server sends the route information to the vehicle.

[0198] After receiving the route information sent by the cloud server, the vehicle can perform operations or travel according to the route information.

[0199] S1007, the cloud server sends the path information to the upper-layer application.

[0200] After receiving the path information, the upper-layer application can prompt the user with the path information through the UI.

[0201] It should be understood that S1006 and S1007 are not in any particular order.

[0202] Figure 13 A schematic flowchart of a route planning method 1300 provided in an embodiment of this application is shown. The method 1300 can be executed by a first server and a vehicle, and includes:

[0203] S1301, The first server obtains the first path, which is the path from the vehicle's current location to the mission destination, and the first path includes one or more road segments.

[0204] Optionally, before the first server obtains the first path, the method further includes: the first server obtaining task information, which includes information indicating the task destination. The task destination can be the final destination of the task, and the first path is the path from the vehicle's current position to the final destination of the task; the task destination may also include one or more waypoints or interruption points leading to the final destination of the task. When sending path information to the vehicle, the first server may first send the path from the vehicle's current position to the waypoint or interruption point. After the vehicle reaches these positions, the first server may continue to send the path to the next waypoint or interruption point to the vehicle until the vehicle reaches the final destination of the task. Specifically, before the vehicle downloads a path to a waypoint or interruption point each time, the first server may obtain the path from the vehicle's current position to the final destination of the task, or obtain the path from the vehicle's current position to the next waypoint or the next interruption point.

[0205] Optionally, the first server obtains task information by receiving task information sent by the second server, wherein the second server may be the server corresponding to the aforementioned upper-layer application.

[0206] For example, in a port scenario, after receiving a user's instruction, the second server can send the task information to the first server.

[0207] Optionally, the first server obtains task information, including receiving task information sent by the vehicle.

[0208] For example, in scenarios such as urban or highway traffic, the vehicle may send the task information to the first server after detecting the user's instruction.

[0209] Optionally, the second path and the first path can be the same path.

[0210] Optionally, the second path may include the first path.

[0211] Optionally, the vehicle can send information such as its current position, heading angle, and speed to the first server in real time. For example, when at least one of the parameters—current position, heading angle, and speed—changes, the vehicle can report the changed parameter to the first server. Alternatively, the vehicle can send these parameters to the first server at preset intervals.

[0212] S1302, the first server determines the planned travel time information of the vehicle on each of the one or more road segments, wherein the total number of vehicles on each road segment is less than or equal to the capacity of each road segment when the vehicle is traveling on each road segment.

[0213] In this embodiment, after obtaining the first path, the first server can determine the planned travel time information of a vehicle on one or more road segments within the first path based on their capacity. The first server can also determine the planned travel time information of the current vehicle on one or more road segments based on the paths and time plans of other vehicles and the capacity of one or more road segments within the first path, thus avoiding conflicts between multiple vehicles. The specific determination process can be found in the description of S305 above, and will not be repeated here.

[0214] S1303, the first server sends route information to the vehicle, the route information including information on at least one of the one or more road segments and the planned travel time of the vehicle on the at least one road segment.

[0215] Optionally, the information of the at least one road segment includes lane information for the vehicle traveling on each road segment within the at least one road segment.

[0216] It should be understood that, in this embodiment of the application, after determining the vehicle's route information, the first server can send the vehicle information about all roads in the first route and the planned travel time information for each road segment. Alternatively, the first server can also send the vehicle information about at least one road segment in the first route and the planned travel time information for that at least one road segment. For example, the at least one road segment may include the first road segment in the first route, or it may include the first road segment and the second road segment in the first route.

[0217] For example, the first server can include information about the first segment of the first path and the planned travel time of the vehicle on that first segment in the path information sent to the vehicle. The vehicle can then travel from its current location to the end of the first segment based on this path information. At this point, the vehicle can report to the first server that it has reached the end of the first segment and the time it reached that end. Upon receiving this information, the first server can continue to send information about the second segment of the first path and the planned travel time of the vehicle on that second segment, and so on.

[0218] For example, the path information can refer to the information on key path points as shown in Table 1 or Table 2.

[0219] Optionally, the at least one road segment includes a first road, and the planned time information for the vehicle to travel on the first road includes information for indicating a first moment and information for indicating a second moment, wherein the first moment is the moment when the vehicle enters the first road and the second moment is the moment when the vehicle leaves the first road. The method further includes: between the first moment and the second moment, if the total number of vehicles on the first road is greater than the capacity of the first road and the priority of the vehicle is higher than the priority of another vehicle, the first server instructs the other vehicle to leave the first road before the first moment, or instructs the other vehicle to enter the first road after the second moment, wherein the other vehicle is a vehicle that is prepared to travel on the first road between the first moment and the second moment.

[0220] For example, the first server determines that vehicle 1 enters the first road at time t1 and leaves the first road at time t2, while the first server previously planned for vehicle 2 to enter the first road at time t1 and leave the first road at time t2. If the first server determines that the capacity of the first road is 1 and the priority of vehicle 1 is greater than the priority of vehicle 2, then the first server can instruct vehicle 2 to leave the first road before time t1, or instruct vehicle 2 to enter the road after time t2.

[0221] In one embodiment, the first server may instruct the other vehicle to leave the first road before the first moment, or instruct the other vehicle to enter the first road after the second moment, by sending new route information to the other vehicle.

[0222] In one embodiment, after receiving instructions from the first server, the other vehicle can determine its own driving information. For example, the other vehicle can increase its speed to ensure that it leaves the first road before the first moment; or, the other vehicle can decrease its speed to ensure that it enters the first road after the second moment.

[0223] Optionally, the planned travel time information of the vehicle on each road segment includes the time of entering each road segment and the time of leaving each road segment; or, the planned travel time information of the vehicle on each road segment includes the time of entering each road segment and the speed information of the vehicle on each road segment; or, the planned travel time information of the vehicle on each road segment includes the time of leaving each road segment and the speed information of the vehicle on each road segment.

[0224] Optionally, the route information may also include information on the vehicle's driving mode on at least one section of the road, including at least one of straight driving, natural turning mode, or crab driving mode.

[0225] Optionally, the first server obtains the first path by: the first server determining, based on the vehicle's access class and / or the vehicle's type, a road that allows the vehicle to travel, the road that allows the vehicle to travel includes one or more road segments; and the first server obtaining the first path based on the road that allows the vehicle to travel.

[0226] For example, a vehicle's accessibility level can be included in the task information. The first server can determine the roads that the vehicle is allowed to travel on based on the vehicle's accessibility level, where the vehicle's accessibility level can be greater than or equal to the level of the roads that allow the vehicle to travel. For instance, the first server can determine that the vehicle can travel on roads 1-9, where roads 1-3 form path 1, roads 4-6 form path 2, and roads 7-9 form path 3. Paths 1, 2, and 3 can be the paths from the vehicle's current location to the task destination. The vehicle can choose one of these paths as the first path.

[0227] For example, the first server can send path 1, path 2 and path 3 to the vehicle. The vehicle can prompt these three paths through the HMI. When the vehicle detects that the user has selected a certain path, the vehicle can send the path information to the first server. Then the first server can combine the capacity of the road on the path to determine the planned travel time information of the vehicle on each segment of the path.

[0228] For example, the vehicle type can be included in the mission information, and the first server can determine the roads that the vehicle is allowed to travel on based on the vehicle type. For instance, if the vehicle type is a special vehicle such as an ambulance or fire truck, then the first server can determine that all roads from the vehicle's current location to the mission destination are passable.

[0229] For example, the first server stores a mapping relationship between vehicle type and vehicle class. When the first server obtains the vehicle type, it can determine the vehicle class. If the vehicle class is greater than or equal to the class of a certain road, then the first server can determine that the road allows the vehicle to travel.

[0230] In one embodiment, the first server may obtain the first path when it receives the task information, or it may obtain the first path in advance.

[0231] For example, the vehicle's destination can be location 1. The first server can obtain a second path based on the vehicle's current location and location 1. This second path is the path from the vehicle's current location to location 1. If the first server determines that a fault point exists in the second path, it can then divide the second path into a first path and a third path. The first path is the path from the fault point to location 1, and the third path is the path from the vehicle's current location to the fault point. The first server can send the path information corresponding to the third path to the vehicle. After receiving the path information corresponding to the third path, the vehicle can travel to the fault point according to this path information.

[0232] When the first server determines that the vehicle has traveled to the fault point and the fault at the fault point has disappeared, the server can send the path information corresponding to the first path to the vehicle. The path information corresponding to the first path may include information about at least one of the one or more road segments and the planned time information for the vehicle to travel on the at least one road segment.

[0233] Optionally, the first server obtaining the first path includes: the first server sending information about the task destination to the third server; and the first server obtaining information about the first path obtained by the third server based on the task destination.

[0234] Optionally, the third server can be a map server.

[0235] Optionally, the first server stores map information, and the first server obtains a second path based on the task destination, including: the first server determines the second path based on the stored map information and the task destination.

[0236] It should be understood that in the embodiments of this application, the first server and the third server may be located on the same server or on different servers, and this application does not limit this.

[0237] Optionally, the route information may also include information for instructing the vehicle to make a zigzag U-turn on a second road, wherein at least one section of the road includes the second road.

[0238] For example, if the first server determines that the task information includes information instructing the vehicle to perform a zigzag turn, then after obtaining the first path, the vehicle can determine which roads from the multiple road segments within the first path are suitable for the zigzag turn. If multiple road segments support zigzag turns, the first server can send the information of these road segments to the second server (or the vehicle), allowing the second server (or vehicle) to prompt the user to select a road segment for the zigzag turn. Upon detecting the user's selection of a road segment, the second server (or vehicle) can send that road segment's information to the first server, allowing the first server to include the road information instructing the vehicle to perform a zigzag turn in the path information sent to the vehicle. Alternatively, if only one road segment in the first path supports zigzag turns, the first server can directly include the road information instructing the vehicle to perform a zigzag turn in the path information sent to the vehicle.

[0239] In this embodiment of the application, the route information sent by the server to the vehicle may include information on one or more road segments and the planned travel time information of the vehicle on one or more road segments. By controlling the vehicle's travel from both road and time dimensions, it helps to avoid conflicts between vehicles, improves the traffic efficiency between vehicles, and thus helps to achieve orderly operation or passage between vehicles.

[0240] Optionally, the method further includes: the vehicle prompting the user with the planned travel time information of the vehicle on at least one section of the road.

[0241] For example, a vehicle can prompt the user with the planned travel time information for the vehicle on at least one section of road through voice or a human-machine interface (HMI).

[0242] For example, when a vehicle is traveling on a segment of a road in the first path, the vehicle can display the time it reached the beginning of that segment of road, the speed information it was traveling on that segment of road, and the time it reached the end of that segment of road through the HMI.

[0243] Optionally, the route information includes first identification information. Before the vehicle receives the route information sent by the first server, the method further includes: the vehicle sending task information to the first server, the task information including information for indicating the destination of the task; the vehicle receiving second identification information sent by the first server according to the task information; wherein the method includes: if the first identification information and the second identification information match, the vehicle travels according to the route information.

[0244] For example, after receiving task information from the vehicle, the first server can send a first ID to the vehicle. Once the first server has determined the route information, it can include a second ID in the route information sent to the vehicle. The vehicle can verify the first ID and the second ID; if they match, the vehicle can proceed according to the route information.

[0245] It should be understood that the matching of the first ID and the second ID can be interpreted as the first ID and the second ID being identical, or the third ID obtained by the first ID through a preset algorithm (e.g., a preset function operation) being identical to the second ID, or the fourth ID obtained by the second ID through a preset algorithm (e.g., a preset function operation) being identical to the first ID.

[0246] In this embodiment of the application, the destination of the task received by the first server may be inconsistent with the destination in the first path sent to the vehicle by the first server (for example, there is a fault point between the current location of the vehicle and the task destination, and the vehicle carries the path information from the current location of the vehicle to the fault point in the first path). Through the first identification information and the second identification information, the vehicle can accurately determine that the path information is the path information for the vehicle, thereby avoiding misjudgment by the vehicle.

[0247] Optionally, the method further includes: if the information of the at least one road segment and / or the planned time information of the vehicle traveling on the at least one road segment is successfully verified, the vehicle travels according to the route information.

[0248] It should be understood that the verification process for the vehicle's information on at least one section of road and / or the vehicle's planned travel time information on at least one section of road can refer to the description in S904 above, and will not be repeated here.

[0249] Figure 14 A schematic block diagram of an apparatus 1400 provided in an embodiment of this application is shown. The apparatus 1400 includes:

[0250] The acquisition unit 1401 is used to acquire a first path, which is a path from the current position of the vehicle to the mission destination, and the first path includes one or more road segments;

[0251] The determining unit 1402 is used to determine the planned time information of the vehicle traveling on each road segment in one or more road segments, wherein the total number of vehicles on each road segment when the vehicle is traveling on each road segment is less than or equal to the capacity of each road segment.

[0252] The sending unit 1403 is used to send route information to the vehicle, the route information including information of at least one of the one or more road segments and the planned travel time information of the vehicle on the at least one road segment.

[0253] Optionally, the acquisition unit 1401 is further configured to acquire task information, including information indicating the destination of the task, before acquiring the first path; and acquire a second path associated with the first path based on the destination of the task.

[0254] Optionally, the at least one road segment includes a first road, and the planned travel time information of the vehicle on the first road includes information for indicating a first moment and information for indicating a second moment. The first moment is the moment when the vehicle enters the first road, and the second moment is the moment when the vehicle leaves the first road. The sending unit is further configured to: between the first moment and the second moment, if the total number of vehicles on the first road is greater than the capacity of the first road and the priority of the vehicle is higher than the priority of another vehicle, send instruction information to the other vehicle. The instruction information is used to instruct the other vehicle to leave the first road before the first moment, or to instruct the other vehicle to enter the first road after the second moment. The other vehicle is a vehicle that is preparing to travel on the first road between the first moment and the second moment.

[0255] Optionally, the planned travel time information of the vehicle on the first road includes information at the first moment and information at the second moment; or, the planned travel time information of the vehicle on the first road includes information at the first moment and speed information of the vehicle on the first road; or, the planned travel time information of the vehicle on the first road includes information at the second moment and speed information of the vehicle on the first road.

[0256] Optionally, the route information may also include information on the vehicle's driving mode on at least one section of the road, including at least one of straight driving, natural turning mode, or crab driving mode.

[0257] Optionally, the acquisition unit 1401 is specifically used to: determine the road that the vehicle is allowed to travel on based on the vehicle's traffic class and / or the vehicle's type, the road that the vehicle is allowed to travel on including one or more road segments; and obtain the first path based on the road that the vehicle is allowed to travel on.

[0258] Optionally, the acquisition unit 1401 is specifically used to: send the destination information of the task to the map server; and acquire the information of the first path obtained by the map server based on the destination of the task.

[0259] Optionally, the route information may also include information for instructing the vehicle to make a zigzag U-turn on a second road, wherein at least one section of the road includes the second road.

[0260] Figure 15A schematic block diagram of an apparatus 1500 provided in an embodiment of this application is shown. Figure 15 As shown, the device 1500 includes:

[0261] The sending unit 1501 is used to send information about the current location of the device to the server;

[0262] The receiving unit 1502 is used to receive path information sent by the server. The path information includes information on at least one of one or more road segments and the planned travel time of the device on the at least one road segment. The first path composed of the one or more road segments is the path from the current location of the device to the mission destination.

[0263] Optionally, the device 1500 further includes a prompting unit for prompting the user with the planned travel time information of the device on at least one section of road.

[0264] Optionally, the path information may also include information on the device’s driving mode on the at least one section of road, which may include at least one of straight driving, natural turning mode or crab driving mode.

[0265] Optionally, the route information includes information for instructing the device to make a zigzag turn on the second road, wherein at least one section of the road includes the second road.

[0266] Optionally, the path information includes first identification information. The sending unit 1501 is also used to send task information to the server before receiving the path information sent by the server. The task information includes information indicating the destination of the task.

[0267] The receiving unit 1502 is also used to receive the second identification information sent by the server according to the task information;

[0268] The device also includes a verification unit 1503, used to determine whether the first identification information and the second identification information match before the device travels according to the path information.

[0269] Optionally, the device further includes a verification unit 1503, configured to determine, before the device travels according to the route information, that the verification of the information on at least one road segment and / or the planned travel time information of the device on at least one road segment is successful.

[0270] This application also provides an apparatus comprising a processing unit and a storage unit, wherein the storage unit is used to store instructions, and the processing unit executes the instructions stored in the storage unit to cause the apparatus to perform the steps performed by the first server in the above embodiments; or, the processing unit executes the instructions stored in the storage unit to cause the apparatus to perform the steps performed by the vehicle in the above embodiments.

[0271] Optionally, if the device is located in a vehicle, the aforementioned processing unit may be Figure 1 The processor 151 shown above, the aforementioned storage unit can be Figure 1 The memory 152 shown can be an on-chip storage unit (e.g., register, cache, etc.) or a storage unit located outside the chip in the vehicle (e.g., read-only memory, random access memory, etc.).

[0272] This application also provides a computer program product, which includes computer program code that, when run on a computer, causes the computer to perform the above-described method.

[0273] This application also provides a server, which may include the above-described device 1400.

[0274] This application also provides a vehicle that may include the aforementioned device 1500.

[0275] This application embodiment also provides a vehicle control device, which may include the aforementioned device 1400. The vehicle control device can take many different product forms. For example, the vehicle control device can be a server. The server can be a single server or a server cluster composed of multiple servers. The server can be a local server. In the field of vehicle networking, the server can specifically be a cloud server, also referred to as cloud, cloud-based server, cloud controller, or vehicle networking server, etc. A cloud server is a general term for devices or components with data processing capabilities, such as physical devices like hosts or processors, virtual devices like virtual machines or containers, and chips or integrated circuits. Optionally, the vehicle control device can also be a roadside unit (RSU), or a chip or component within a roadside unit.

[0276] The vehicle control device can interface with upper-level applications. For example, operators can configure the vehicle control device through this upper-level application, including but not limited to configuring the functions of the vehicle control device and issuing task information and control commands. Furthermore, the vehicle control device can obtain configuration information, task information, control commands, etc. from the upper-level application, and utilize other information it can obtain to uniformly schedule relevant vehicles in the system, thereby improving the overall operational efficiency of the vehicles.

[0277] Figure 16 A schematic block diagram of a system 1600 provided in an embodiment of this application is shown. Figure 16As shown, the system 1600 may include a first server 1601 and a vehicle 1602, wherein the first server 1601 may be the first server in the above embodiment, and the vehicle 1602 may be the vehicle in the above embodiment.

[0278] This application also provides a computer-readable medium storing program code that, when run on a computer, causes the computer to perform the above-described method.

[0279] In implementation, each step of the above method can be completed by integrated logic circuits in the processor's hardware or by instructions in software. The method disclosed in the embodiments of this application can be directly implemented by a hardware processor, or by a combination of hardware and software modules within the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are omitted here.

[0280] It should be understood that in the embodiments of this application, the processor can be a central processing unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0281] It should also be understood that, in the embodiments of this application, the memory may include read-only memory and random access memory, and provides instructions and data to the processor.

[0282] In the embodiments of this application, the terms "first," "second," and various numerical designations are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. For example, they are used to distinguish different pipes, through holes, etc.

[0283] It should be understood that the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0284] It should be understood that in the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0285] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0286] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0287] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0288] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0289] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0290] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0291] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be covered. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method of path planning, characterized by, include: Obtain a first path, which is the path from the vehicle's current location to the mission destination, and the first path includes one or more road segments; Determine the planned travel time information of the vehicle on each of the one or more road segments, such that when the vehicle travels according to the planned travel time information on each road segment, the total number of vehicles on each road segment is less than or equal to the capacity of each road segment; Send route information to the vehicle, the route information including information of at least one of the one or more road segments and the planned time information for the vehicle to travel on the at least one road segment, the route information being used to control the vehicle's travel; The planned time information for the vehicle's travel on each road segment includes the time of entering each road segment and the time of leaving each road segment, or... The planned time information for the vehicle's travel on each road segment includes the time of entry into each road segment and the vehicle's speed information on each road segment, or... The planned time information for the vehicle's travel on each road segment includes the time of departure from each road segment and the vehicle's speed information on each road segment.

2. The method according to claim 1, characterized in that, Before obtaining the first path, the method further includes: Obtain task information, which includes information indicating the destination of the task.

3. The method according to claim 1 or 2, characterized in that, The at least one road segment includes a first road, and the planned time information for the vehicle's travel on the first road includes information indicating a first moment and information indicating a second moment, wherein the first moment is the moment the vehicle enters the first road, and the second moment is the moment the vehicle leaves the first road. The method further includes: Between a first time point and a second time point, if the total number of vehicles on the first road is greater than the capacity of the first road and the priority of the vehicle is higher than that of another vehicle, the other vehicle is instructed to leave the first road before the first time point, or the other vehicle is instructed to enter the first road after the second time point, wherein the other vehicle is a vehicle that is scheduled to travel on the first road between the first time point and the second time point.

4. The method according to claim 1 or 2, characterized in that, The path information also includes information on the vehicle's driving mode on the at least one section of road, the driving mode including at least one of straight driving, natural turning mode or crab driving mode.

5. The method according to claim 1 or 2, characterized in that, The process of obtaining the first path includes: Based on the vehicle's traffic class and / or the vehicle's type, determine the roads that the vehicle is permitted to travel on, wherein the roads that the vehicle is permitted to travel on include one or more road segments; The first path is obtained based on the roads that allow the vehicle to travel.

6. The method according to claim 1 or 2, characterized in that, The process of obtaining the first path includes: Send the destination information of the task to the map server; Obtain the information of the first path obtained by the map server based on the task destination.

7. The method according to claim 1 or 2, characterized in that, The route information also includes information for instructing the vehicle to make a U-turn on the second road, wherein the at least one section of road includes the second road.

8. A path planning method, characterized in that, include: Send the vehicle's current location information to the server; The system receives path information sent by a server. This path information includes information about at least one of one or more road segments and planned travel time information for the vehicle on those at least one road segment. When the vehicle travels according to the planned travel time information on each of the at least one road segment, the total number of vehicles on each road segment is less than or equal to the capacity of that road segment. The first path, composed of the one or more road segments, is a path from the vehicle's current location to the mission destination. This path information is used to control the vehicle's movement. The planned travel time information for each road segment includes the time of entering and leaving that road segment, or... The planned time information for the vehicle's travel on each road segment includes the time of entry into each road segment and the vehicle's speed information on each road segment, or... The planned time information for the vehicle's travel on each road segment includes the time of departure from each road segment and the vehicle's speed information on each road segment.

9. The method according to claim 8, characterized in that, The at least one road segment includes a first road, and the planned time information for the vehicle's travel on the first road includes information indicating a first moment and information indicating a second moment, wherein the first moment is the moment the vehicle enters the first road, and the second moment is the moment the vehicle leaves the first road. The method further includes: The vehicle receives instruction information sent by the server, the instruction information being used to instruct the vehicle to leave the first road during a third time period; or, to instruct the vehicle to enter the first road after a fourth time period. The other vehicle is a vehicle that is scheduled to travel on the first road between the third time and the fourth time. The priority of the other vehicle is greater than or equal to the priority of the vehicle. The third time is the same as the first time or the third time is after the first time. Alternatively, the fourth time is the same as the second time or the fourth time is before the second time.

10. The method according to claim 8 or 9, characterized in that, The method further includes: The user is prompted with the planned travel time information of the vehicle on at least one section of the road.

11. The method according to claim 8 or 9, characterized in that, The path information also includes information on the vehicle's driving mode on the at least one section of road, the driving mode including at least one of straight driving, natural turning mode or crab driving mode.

12. The method according to claim 8 or 9, characterized in that, The route information includes information for instructing the vehicle to make a zigzag U-turn on the second road, and the at least one section of road includes the second road.

13. The method according to claim 8 or 9, characterized in that, The path information includes first identification information. Before receiving the path information sent by the server, the method further includes: Send task information to the server, the task information including information indicating the destination of the task; Receive the second identification information sent by the server based on the task information; The method includes: If the first identification information and the second identification information match, travel according to the path information.

14. The method according to claim 8 or 9, characterized in that, The method further includes: If the information of the at least one road segment and / or the planned travel time information of the vehicle on the at least one road segment are successfully verified, the vehicle shall travel according to the route information.

15. A path planning apparatus, characterized in that, include: The acquisition unit is used to acquire a first path, which is a path from the current location of the vehicle to the mission destination, and the first path includes one or more road segments; A determining unit is used to determine the planned travel time information of the vehicle on each of the one or more road segments, so that when the vehicle travels according to the planned travel time information on each road segment, the total number of vehicles on each road segment is less than or equal to the capacity of each road segment. A sending unit is used to send route information to the vehicle. The route information includes information about at least one of the one or more road segments and the planned travel time of the vehicle on the at least one road segment. The route information is used to control the driving of the vehicle. The planned time information for the vehicle's travel on each road segment includes the time of entering each road segment and the time of leaving each road segment, or... The planned time information for the vehicle's travel on each road segment includes the time of entry into each road segment and the vehicle's speed information on each road segment, or... The planned time information for the vehicle's travel on each road segment includes the time of departure from each road segment and the vehicle's speed information on each road segment.

16. The apparatus according to claim 15, characterized in that, The acquisition unit is further configured to acquire task information before acquiring the first path, the task information including information indicating the task destination.

17. The apparatus according to claim 15 or 16, characterized in that, The at least one road segment includes a first road, and the planned travel time information of the vehicle on the first road includes information for indicating a first moment and information for indicating a second moment. The first moment is the moment when the vehicle enters the first road, and the second moment is the moment when the vehicle leaves the first road. The sending unit is further configured to: between the first moment and the second moment, if the total number of vehicles on the first road is greater than the capacity of the first road and the priority of the vehicle is higher than the priority of another vehicle, send indication information to the other vehicle. The indication information is used to instruct the other vehicle to leave the first road before the first moment, or to instruct the other vehicle to enter the first road after the second moment. The other vehicle is a vehicle that is planned to travel on the first road between the first moment and the second moment.

18. The apparatus according to claim 15 or 16, characterized in that, The path information also includes information on the vehicle's driving mode on the at least one section of road, the driving mode including at least one of straight driving, natural turning mode or crab driving mode.

19. The apparatus according to claim 15 or 16, characterized in that, The acquisition unit is specifically used for: Based on the vehicle's traffic class and / or the vehicle's type, determine the roads that the vehicle is permitted to travel on, wherein the roads that the vehicle is permitted to travel on include one or more road segments; The first path is obtained based on the roads that allow the vehicle to travel.

20. The apparatus according to claim 15 or 16, characterized in that, The acquisition unit is specifically used for: Send the destination information of the task to the map server; Obtain the information of the first path obtained by the map server based on the task destination.

21. The apparatus according to claim 15 or 16, characterized in that, The route information also includes information for instructing the vehicle to make a U-turn on the second road, wherein the at least one section of road includes the second road.

22. A path planning apparatus, characterized in that, include: The sending unit is used to send information about the current location of the device to the server; A receiving unit is configured to receive path information sent by a server. The path information includes information about at least one of one or more road segments and the planned time information for the device to travel on the at least one road segment. When the device travels according to the planned time information on each of the at least one road segment, the total number of vehicles on each road segment is less than or equal to the capacity of each road segment. The first path composed of the one or more roads is a path from the current location of the device to the mission destination. The path information is used to control the travel of the vehicle. The planned time information for the device's travel on each road segment includes the time of entering each road segment and the time of leaving each road segment, or... The planned time information for the device's travel on each road segment includes the time of entry into each road segment and the device's speed information on each road segment, or... The planned time information for the device to travel on each road segment includes the time of departure from each road segment and the speed information of the device on each road segment.

23. The apparatus according to claim 22, characterized in that, The at least one road segment includes a first road, and the planned time information for the device's travel on the first road includes information indicating a first moment and information indicating a second moment, wherein the first moment is the moment the device enters the first road, and the second moment is the moment the device leaves the first road. The receiving unit is further configured to receive instruction information sent by the server, the instruction information being used to instruct the device to leave the first road during a third time period; or, to instruct the device to enter the first road after a fourth time period; The other vehicle is a vehicle that is scheduled to travel on the first road between the third time and the fourth time. The priority of the other vehicle is greater than or equal to the priority of the device. The third time is the same as the first time or the third time is after the first time. Alternatively, the fourth time is the same as the second time or the fourth time is before the second time.

24. The apparatus according to claim 22 or 23, characterized in that, The device further includes: The prompting unit is used to prompt the user with the planned travel time information of the device on the at least one section of road.

25. The apparatus according to claim 22 or 23, characterized in that, The path information also includes information on the device's driving mode on the at least one section of road, the driving mode including at least one of straight driving, natural turning mode or crab driving mode.

26. The apparatus according to claim 22 or 23, characterized in that, The path information includes information for instructing the device to make a zigzag turn on the second road, and the at least one section of the road includes the second road.

27. The apparatus according to claim 22 or 23, characterized in that, The path information includes first identification information. The sending unit is also configured to send task information to the server before receiving the path information sent by the server. The task information includes information indicating the destination of the task. The receiving unit is further configured to receive second identification information sent by the server according to the task information; The device further includes a verification unit, configured to determine whether the first identification information and the second identification information match before the device travels according to the path information.

28. The apparatus according to claim 22 or 23, characterized in that, The device further includes: The verification unit is used to determine, before the device travels according to the path information, whether the information of the at least one road segment and / or the planned time information of the device traveling on the at least one road segment has been successfully verified.

29. A server, characterized in that, Includes the apparatus as described in any one of claims 15 to 21.

30. A vehicle, characterized in that, Includes the apparatus as described in any one of claims 22 to 28.

31. A path planning system, characterized in that, The system includes a server and a vehicle, wherein the server is the server of claim 29, and / or the vehicle is the vehicle of claim 30.

32. A computer-readable storage medium, characterized in that, The computer-readable medium stores program code that, when executed on a computer, causes the computer to perform the method as described in any one of claims 1 to 7; or, When the program code is run on a computer, it causes the computer to perform the method as described in any one of claims 8 to 14.

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